CN115266220B

CN115266220B - Data acquisition unmanned ship for water conservancy digital twin system

Info

Publication number: CN115266220B
Application number: CN202211194730.0A
Authority: CN
Inventors: 朱岳龙; 钮月磊; 徐晓莉
Original assignee: NANJING HEHAI NANZI HYDROPOWER AUTOMATION CO Ltd
Current assignee: NANJING HEHAI NANZI HYDROPOWER AUTOMATION CO Ltd
Priority date: 2022-09-29
Filing date: 2022-09-29
Publication date: 2023-03-31
Anticipated expiration: 2042-09-29
Also published as: CN115266220A

Abstract

The invention discloses a data acquisition unmanned ship for a water conservancy digital twin system, which is characterized in that: the ship comprises a ship body assembly, a ship body assembly and a ship body assembly, wherein the ship body assembly comprises a water surface ship body, a monitoring part arranged on the water surface ship body and a central processing unit arranged in the water surface ship body; the underwater acquisition assembly comprises a diving body arranged in the water surface ship body and an acquisition component arranged on the diving body; and the throwing component is arranged between the ship body and the diving body, the throwing component is used for realizing throwing, and when the matching block continues to rotate, the poke rod is meshed with the ratchet wheel again under the action of the torsion spring to realize locking of the next diving body, so that the diving bodies are thrown in order and at intervals.

Description

Data acquisition unmanned ship for water conservancy digital twin system

Technical Field

The invention relates to the technical field of water conservancy digital twins, in particular to a data acquisition unmanned ship for a water conservancy digital twins system.

Background

The method is an important content of scientific research on physics, chemistry, biology and environment of natural water samples. Water sampling device among the correlation technique is when carrying out the water intaking sampling, generally orders about the intake pipe through haulage rope and plummet and stretches into under water and carry out the water intaking sampling. However, the driving mode of the pulling rope and the lead weight is easily affected by water flow shaking, so that water samples of a water layer with certain depth can not be accurately collected, and the detection precision of the water sample collection device is reduced.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The invention is provided in view of the problems of the existing unmanned ship for data acquisition of the water conservancy digital twin system.

Therefore, the invention aims to provide a data acquisition unmanned ship for a water conservancy digital twin system.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a water conservancy digit is unmanned ship of data acquisition for twin system which characterized in that: the ship comprises a ship body assembly, a ship body assembly and a ship body assembly, wherein the ship body assembly comprises a water surface ship body, a monitoring part arranged on the water surface ship body and a central processing unit arranged in the water surface ship body; the underwater acquisition assembly comprises a diving body arranged in the water surface ship body and an acquisition component arranged on the diving body; and the throwing component is arranged between the ship body and the diving body.

As a preferred scheme of the data acquisition unmanned ship for the water conservancy digital twin system, the data acquisition unmanned ship comprises the following steps: the monitoring part is including setting up sonar detection module on the surface of water hull, the wireless communication module of being connected with sonar detection module electricity and setting up the controller in the surface of water hull, the controller is connected with sonar detection module electricity, the controller is connected with wireless communication module and central processing unit electricity.

As a preferred scheme of the data acquisition unmanned ship for the water conservancy digital twin system, the data acquisition unmanned ship comprises the following steps: the diving body is provided with a camera shooting piece which comprises a front-end camera arranged at the front end of the diving body, a rear-end camera arranged at the rear end of the diving body and illuminating pieces arranged on the front-end camera and the rear-end camera,

the camera shooting piece is electrically connected with the central processing unit, and rotating pieces are arranged on the front-end camera and the rear-end camera.

As a preferred scheme of the data acquisition unmanned ship for the water conservancy digital twin system, the data acquisition unmanned ship comprises the following steps: the storage chamber has been seted up to surface of water hull lower extreme, the port department in storage chamber rotates and is connected with the switch door, be provided with the linkage in the storage chamber, the linkage includes with storage chamber articulated first connecting rod, articulate the second connecting rod in first connecting rod middle section, articulate the third connecting rod at first connecting rod distal end and articulate the fourth connecting rod at storage chamber opposite side, the third connecting rod is articulated with the switch door, third connecting rod middle section articulates there is branch, branch is articulated with second connecting rod and fourth connecting rod tip, third connecting rod tip articulates there is supplementary pole group.

As a preferred scheme of the water conservancy digital twin system data acquisition unmanned ship, the water conservancy digital twin system data acquisition unmanned ship comprises the following steps: the auxiliary rod group comprises an auxiliary first rod hinged to the third connecting rod and the first connecting rod and an auxiliary second rod hinged to the end of the auxiliary first rod, the auxiliary second rod is hinged to the end of the fourth connecting rod, a clamping rod is arranged at one end, far away from the storage cavity, of the supporting rod and hinged to the switch door, and an intermediate rod is arranged between the supporting rod and the clamping rod.

As a preferred scheme of the water conservancy digital twin system data acquisition unmanned ship, the water conservancy digital twin system data acquisition unmanned ship comprises the following steps: the storage intracavity is provided with accepts the frame, it accepts the arch to be provided with on accepting the frame, accept frame one end and be provided with the input guide rail, put in the subassembly setting on putting in the guide rail, it is connected with first rotating turret to rotate on accepting the frame, the position of accepting the frame and keeping away from first rotating turret is provided with the second rotating turret, be provided with the stirring board between first rotating turret and the second rotating turret, the first rotating turret of stirring board and second rotating turret lower extreme are provided with the eccentric wheel, are located be provided with the driving piece on the eccentric wheel of first rotating turret department, two be provided with the trace between the eccentric wheel.

As a preferred scheme of the water conservancy digital twin system data acquisition unmanned ship, the water conservancy digital twin system data acquisition unmanned ship comprises the following steps: the throwing assembly comprises a rotating wheel, a plurality of clamping rods and a ratchet wheel, wherein the rotating wheel is rotatably connected to the bearing frame, the clamping rods are arranged on the rotating wheel, the ratchet wheel is coaxially arranged with the rotating wheel, the starting wheel is coaxially arranged on the first rotating frame, the bearing frame is provided with a connecting block, the connecting block is connected with a rotating shaft of the starting wheel, and a poking part is arranged on the connecting block.

As a preferred scheme of the water conservancy digital twin system data acquisition unmanned ship, the water conservancy digital twin system data acquisition unmanned ship comprises the following steps: the poking piece comprises a poking rod rotatably connected with the connecting block, a pawl arranged at the end of the poking rod and a protruding block arranged at the middle section of the poking rod, a matching block is arranged on the side wall of the starting wheel, and a torsional spring is arranged at the joint of the poking rod and the connecting block.

As a preferred scheme of the water conservancy digital twin system data acquisition unmanned ship, the water conservancy digital twin system data acquisition unmanned ship comprises the following steps: and a drainage valve is arranged on the switch door.

The invention has the beneficial effects that: when data acquisition is carried out, an operator drives the first connecting rod and the fourth connecting rod, the first connecting rod is enabled to rotate, the opening and closing door is pushed outwards under the limiting and hinged transmission of the connecting rod group and the auxiliary rod group, the storage cavity is opened at the moment, then the operator drives the eccentric wheel to rotate through the driving piece, the carrying plate is driven to move, a diving body placed in the storage cavity is carried and is evenly placed on the bearing frame, meanwhile, the starting wheel is driven to rotate, the matching block can be enabled to prop the protruding block open through the starting wheel, then the front end of the poking rod is lifted up and is disengaged from the ratchet wheel, at the moment, the diving body can slide downwards under the action of gravity, the poking rod is poked, the poking rod drives the rotating wheel to rotate, the throwing is achieved, when the matching block continues to rotate, the poking rod is meshed with the ratchet wheel again under the action of the torsion spring, the locking of the next diving body is achieved, and the throwing is carried out on the diving body orderly and at intervals.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Wherein:

fig. 1 is a schematic view of the overall structure of the data acquisition unmanned ship for the water conservancy digital twin system.

Fig. 2 is a schematic view of monitoring components of the data acquisition unmanned ship for the water conservancy digital twin system.

FIG. 3 is a schematic diagram of a submersible structure of the data acquisition unmanned ship for the water conservancy digital twin system.

Fig. 4 is a schematic view of the internal structure of the storage cavity of the data acquisition unmanned ship for the water conservancy digital twin system.

Fig. 5 is a schematic structural view of a carrying plate of the data acquisition unmanned ship for the water conservancy digital twin system.

Fig. 6 is a schematic diagram of a linkage structure of the data acquisition unmanned ship for the water conservancy digital twinning system.

Fig. 7 is a schematic structural diagram of a launching assembly of the data acquisition unmanned ship for the water conservancy digital twin system.

Fig. 8 is an enlarged schematic view of the structure A in fig. 7 of the data acquisition unmanned ship for the water conservancy digital twin system.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and it will be appreciated by those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the present invention and that the present invention is not limited by the specific embodiments disclosed below.

Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Furthermore, the present invention is described in detail with reference to the drawings, and for convenience of illustration, the cross-sectional views illustrating the device structures are not enlarged partially according to the general scale when describing the embodiments of the present invention, and the drawings are only exemplary, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

Example 1

Referring to fig. 1-8, the invention discloses a data acquisition unmanned ship for a water conservancy digital twin system, which comprises a ship body assembly 100, wherein in the embodiment, the ship body assembly 100 comprises a water surface ship body 101, a monitoring part 102 is arranged on the water surface ship body 101, the monitoring part 102 is used for detecting the information of the surrounding environment under water, a central processing unit 103 is also arranged in the water surface ship body 101, and the central processing unit 103 is mainly used for an operator to control the monitoring part 102.

Further, the invention also comprises an underwater collecting assembly 200, in this embodiment, the underwater collecting assembly 200 comprises a diving body 201 arranged in the water surface hull 101 and a collecting part arranged on the diving body 201, in this embodiment, the collecting part comprises a manipulator arranged on the diving body 201, the manipulator is used for grabbing, the diving body 201 can be thrown into water from the hull and can move downwards, and can enter an updated place below the water surface for measurement and monitoring, and the collecting part is used for collecting part of water samples at part of deep water.

Further, in this embodiment, monitoring part 102 is including setting up sonar detection module 102a on surface of water hull 101, sonar detection module 102a sets up the anterior position of lower extreme at surface of water hull 101, can carry out sonar detection to the environment under the surface of water, it has wireless communication module 102b to go up the electricity connection on sonar detection module 102a, wireless communication module 102b mainly will follow sonar detection module 102a and go up the information of receiving and transmission and transmit the operator, make the operator can learn or change the transmission state of sonar.

The underwater ship body 101 is also internally provided with a controller 102c, the controller 102c is electrically connected with a sonar detection module 102a and mainly used for controlling sonar detection, the controller 102c is electrically connected with a central processing unit 103 of a wireless communication module 102b, the diving body 201 is provided with a camera 203, the camera 203 comprises a front-end camera 203a arranged at the front end of the diving body 201, a rear-end camera 203b arranged at the rear end of the diving body 201 and illuminating pieces arranged on the front-end camera 203a and the rear-end camera 203b, the environment below the sea surface can be shot by using the front-end camera 203a and the rear-end camera 203b, and the two cameras are arranged, so that an operator can conveniently observe the surrounding environment, and light can be supplemented by using the illuminating pieces, and shooting is convenient.

Further, the camera 203 is electrically connected to the cpu 103, the front camera 203a and the rear camera 203b are provided with a rotating member, in this embodiment, the rotating member includes a rotating gear disposed at the rear end of the front camera 203a and the rear camera 203b, a mating gear engaged with the rotating gear is rotatably connected to the diving body 201, the mating gear is driven by a motor, and a housing is disposed outside the rotating gear and the mating gear, so as to prevent water from entering, and a drain valve is disposed on the switch door 301.

Further, a storage chamber 300 is formed in the side position of the water surface hull 101, a switch door 301 is rotatably connected to a port of the storage chamber 300, and a linkage 302 is arranged on the switch door 301, in this embodiment, the linkage 302 includes a first link 302a hinged to the storage chamber 300, a second link 302b hinged to the middle section of the first link 302a, a third link 302c hinged to the distal end of the first link 302a, and a fourth link 302d hinged to the other side of the storage chamber 300, the rotation planes of all the rod bodies included in the linkage 302 are horizontal planes, the third link 302c is hinged to the switch door 301, a support rod 303 is hinged to the middle section of the third link 302c, the support rod 303 is hinged to the end portions of the second link 302b and the fourth link 302d, and an auxiliary rod group 304 is hinged to the end portion of the third link 302 c.

Further, in this embodiment, the auxiliary lever set 304 includes an auxiliary first lever 304a hinged to a hinge of the third link 302c and the first link 302a, and an auxiliary second lever 304b hinged to an end of the auxiliary first lever 304a, the auxiliary second lever 304b is hinged to an end of the fourth link 302d, a clamping lever 305 is disposed at an end of the support rod 303 away from the storage chamber 300, the clamping lever 305 is hinged to the switch door 301, an intermediate lever 306 is disposed at an end of the clamping lever 305, and an end of the intermediate lever 306 away from the clamping lever 305 is hinged to a rotating shaft of the support rod 303.

Further, a receiving frame 400 is arranged in the storage chamber 300, a receiving protrusion 401 is arranged on the receiving frame 400, a throwing guide rail 402 is arranged at one end of the receiving frame 400, the receiving frame 400 is composed of two parallel long strips, the upper ends of the two long strips are kept horizontal, the throwing guide rail 402 is an inclined strip arranged at the end of each long strip, the throwing assembly 500 is arranged on the throwing guide rail 402, a first rotating frame 403 is rotatably connected on the receiving frame 400, the rotating plane of the first rotating frame 403 is vertically arranged, a second rotating frame 404 is arranged at the position of the receiving frame 400 far away from the first rotating frame 403, the rotating plane of the second rotating frame 404 is also vertically arranged, a carrying plate 405 is arranged between the first rotating frame 403 and the second rotating frame 404, the carrying plate 405 is always kept in the horizontal direction, a plurality of receiving blocks are arranged at equal intervals at the upper ends of the carrying plate 405, and a receiving groove is arranged on each receiving block and used for carrying the submerged vehicle 201.

Further, an eccentric wheel 406 is arranged at the lower end of the first rotating frame 403 and the second rotating frame 404, a driving member 408 is arranged on the eccentric wheel 406 at the first rotating frame 403, a linkage 407 is arranged between the two eccentric wheels 406, and two ends of the linkage 407 are provided with circular rings, the circular rings are connected with the eccentric wheels 406, so that when the driving member 408 drives one of the eccentric wheels 406 at the lower end of the first rotating frame 403 to rotate, the other eccentric wheel 406 is driven to rotate synchronously, and the carrying plate 405 is driven to move.

Further, in this embodiment, the releasing assembly 500 includes a rotating wheel 501 rotatably connected to the receiving frame 400, a rotating plane of the rotating wheel 501 is vertically disposed, a plurality of locking rods 502 are further disposed on the rotating wheel 501, in this embodiment, six locking rods 502 are provided, a ratchet 503 is coaxially disposed on the rotating wheel 501, meanwhile, a starting wheel 504 is coaxially disposed on the first rotating frame 403, rotation of the starting wheel 504 is also controlled by the driving member 408, the rotating plane of the starting wheel 504 is vertically disposed, a connecting block 505 is disposed on the receiving frame 400, the connecting block 505 is connected to a rotating shaft of the starting wheel 504, and a toggle member 506 is disposed on the connecting block 505.

In this embodiment, the toggle member 506 includes a toggle rod 506a rotatably connected to the connecting block 505, a rotation plane of the toggle rod 506a is vertically disposed, and a front end of the toggle rod 506a extends to the ratchet 503, a pawl 506b is disposed at an end of the toggle rod 506a, the pawl 506b is engaged with the ratchet on the ratchet 503 to limit the rotation of the ratchet 503, a protrusion 506c is disposed at a middle section of the toggle rod 506a, a mating block 506d is disposed on a side wall of the starting wheel 504, the mating block 506d rotates along with the rotation of the starting wheel 504 to jack up the protrusion 506c, a torsion spring 507 is disposed at a connection position of the toggle rod 506a and the connecting block 505, and the torsion spring 507 drives the toggle rod 506a to rotate in a direction close to the ratchet 503.

The operation process is as follows: during data acquisition, an operator drives the first link 302a and the fourth link 302d to rotate the first link 302a, and pushes the switch door 301 outwards under the restriction and hinge transmission of the link set 302 and the auxiliary link set 304, at this time, the storage chamber 300 is opened, and then the operator drives the eccentric 406 to rotate by the driving member 408, so that the driving member 408 moves the carrying plate 405 to carry the submersible body 201 placed in the storage chamber 300 and uniformly placed on the cradle 400, and at the same time, the starting wheel 504 rotates to push the engaging block 506d to open the protruding block 506c, and then the front end of the poke rod 506a is lifted to be disengaged from the ratchet 503, at this time, the submersible body 201 slides downwards under the action of gravity, so that the poke rod 502 is poked to drive the rotating wheel 501 to throw, and when the engaging block 506d continues to rotate, the poke rod 506a is engaged with the ratchet 507 again to throw the ratchet 503 to lock the next submersible body 201, thereby orderly locking the submersible body 201 at intervals.

It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. The utility model provides a water conservancy digit is unmanned ship of data acquisition for twin system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the ship body assembly (100) comprises a water surface ship body (101), a monitoring part (102) arranged on the water surface ship body (101) and a central processing unit (103) arranged in the water surface ship body (101), wherein a storage cavity (300) is formed in the lower end of the water surface ship body (101), a switch door (301) is connected to a port of the storage cavity (300) in a rotating mode, a connecting rod group (302) is arranged in the storage cavity (300), the connecting rod group (302) comprises a first connecting rod (302 a) hinged to the storage cavity (300), a second connecting rod (302 b) hinged to the middle section of the first connecting rod (302 a), a third connecting rod (302 c) hinged to the far end of the first connecting rod (302 a) and a fourth connecting rod (302 d) hinged to the other side of the storage cavity (300), the third connecting rod (302 c) is hinged to the switch door (301), a supporting rod (303) is hinged to the middle section of the third connecting rod (302 c), the supporting rod (303) is hinged to the second connecting rod (302 b) and the end of the fourth connecting rod (302 d), the end of the third connecting rod (302 c) is hinged to the end of the auxiliary connecting rod (304 b), the auxiliary connecting rod (304 a) and the end of the auxiliary connecting rod (304 b) hinged to the end of the auxiliary connecting rod (304 b), a clamping rod (305) is arranged at one end of the support rod (303) far away from the storage cavity (300), the clamping rod (305) is hinged with the switch door (301), and an intermediate rod (306) is arranged between the support rod (303) and the clamping rod (305);

the underwater acquisition assembly (200) comprises a diving body (201) arranged in the water surface ship body (101) and an acquisition component arranged on the diving body (201); and the number of the first and second groups,

the throwing assembly (500) is arranged between a ship body and a submersible body (201), a bearing frame (400) is arranged in the storage cavity (300), a bearing bulge (401) is arranged on the bearing frame (400), a throwing guide rail (402) is arranged at one end of the bearing frame (400), the throwing assembly (500) is arranged on the throwing guide rail (402), a first rotating frame (403) is connected to the bearing frame (400) in a rotating mode, a second rotating frame (404) is arranged at a position, far away from the first rotating frame (403), of the bearing frame (400), a carrying plate (405) is arranged between the first rotating frame (403) and the second rotating frame (404), eccentric wheels (406) are arranged at the lower ends of the first rotating frame (403) and the second rotating frame (404) of the carrying plate (405), a driving piece (408) is arranged on the eccentric wheels (406) at the first rotating frame (403), a linkage rod (407) is arranged between the two eccentric wheels (406), the throwing assembly (500) comprises a rotating wheel (400), a rotating wheel (501) which is rotatably connected to the bearing frame (400), a rotating wheel (501) and a plurality of coaxial rotating wheels (501) and a plurality of rotating wheels (502) which are arranged on the same axis, the bearing frame (400) is provided with a connecting block (505), the connecting block (505) is connected with a rotating shaft of the starting wheel (504), and the connecting block (505) is provided with a toggle piece (506).

2. The unmanned ship of data acquisition for water conservancy digital twin system of claim 1, characterized in that: the monitoring component (102) comprises a sonar detection module (102 a) arranged on the water surface ship body (101), a wireless communication module (102 b) electrically connected with the sonar detection module (102 a) and a controller (102 c) arranged in the water surface ship body (101), wherein the controller (102 c) is electrically connected with the sonar detection module (102 a), and the controller (102 c) is electrically connected with the wireless communication module (102 b) and a central processing unit (103).

3. The unmanned ship of data acquisition for water conservancy digital twin system of claim 1, characterized in that: the submersible body (201) is provided with a camera (203), the camera (203) comprises a front end camera (203 a) arranged at the front end of the submersible body (201), a rear end camera (203 b) arranged at the rear end of the submersible body (201) and illuminating pieces arranged on the front end camera (203 a) and the rear end camera (203 b), the camera (203) is electrically connected with the central processing unit (103), and rotating pieces are arranged on the front end camera (203 a) and the rear end camera (203 b).

4. The unmanned ship for data acquisition of a water conservancy digital twin system according to claim 1, wherein: the poking piece (506) comprises a poking rod (506 a) rotatably connected with the connecting block (505), a pawl (506 b) arranged at the end part of the poking rod (506 a) and a protruding block (506 c) arranged at the middle section of the poking rod (506 a), the side wall of the starting wheel (504) is provided with a matching block (506 d), and the joint of the poking rod (506 a) and the connecting block (505) is provided with a torsion spring (507).

5. The unmanned ship of data acquisition for water conservancy digital twin system of claim 1, characterized in that: and a drainage valve is arranged on the switch door (301).